Program Listing for File components_urdfs.hpp
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// Copyright (c) 2021 Stogl Robotics Consulting
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef ROS2_CONTROL_TEST_ASSETS__COMPONENTS_URDFS_HPP_
#define ROS2_CONTROL_TEST_ASSETS__COMPONENTS_URDFS_HPP_
#include <string>
namespace ros2_control_test_assets
{
// 1. Industrial Robots with only one interface
const auto valid_urdf_ros2_control_system_one_interface =
R"(
<ros2_control name="RRBotSystemPositionOnly" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
</ros2_control>
)";
// 2. Industrial Robots with multiple interfaces (cannot be written at the same time)
// Note, joint parameters can be any string
const auto valid_urdf_ros2_control_system_multi_interface =
R"(
<ros2_control name="RRBotSystemMultiInterface" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemMultiInterfaceHardware</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
<param name="initial_value">1.2</param>
</command_interface>
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
<param name="initial_value">3.4</param>
</command_interface>
<command_interface name="effort">
<param name="min">-0.5</param>
<param name="max">0.5"</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
</ros2_control>
)";
// 3. Industrial Robots with integrated sensor
const auto valid_urdf_ros2_control_system_robot_with_sensor =
R"(
<ros2_control name="RRBotSystemWithSensor" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemWithSensorHardware</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<sensor name="tcp_fts_sensor">
<state_interface name="fx"/>
<state_interface name="fy"/>
<state_interface name="fz"/>
<state_interface name="tx"/>
<state_interface name="ty"/>
<state_interface name="tz"/>
<param name="frame_id">kuka_tcp</param>
<param name="lower_limits">-100</param>
<param name="upper_limits">100</param>
</sensor>
</ros2_control>
)";
// 4. Industrial Robots with externally connected sensor
const auto valid_urdf_ros2_control_system_robot_with_external_sensor =
R"(
<ros2_control name="RRBotSystemPositionOnlyWithExternalSensor" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
</ros2_control>
<ros2_control name="RRBotForceTorqueSensor2D" type="sensor">
<hardware>
<plugin>ros2_control_demo_hardware/ForceTorqueSensor2DHardware</plugin>
<param name="example_param_read_for_sec">0.43</param>
</hardware>
<sensor name="tcp_fts_sensor">
<state_interface name="fx"/>
<state_interface name="fy"/>
<state_interface name="fz"/>
<state_interface name="tx"/>
<state_interface name="ty"/>
<state_interface name="tz"/>
<param name="frame_id">kuka_tcp</param>
<param name="lower_limits">-100</param>
<param name="upper_limits">100</param>
</sensor>
</ros2_control>
)";
// 5. Modular Robots with separate communication to each actuator
const auto valid_urdf_ros2_control_actuator_modular_robot =
R"(
<ros2_control name="RRBotModularJoint1" type="actuator">
<hardware>
<plugin>ros2_control_demo_hardware/PositionActuatorHardware</plugin>
<param name="example_param_write_for_sec">1.23</param>
<param name="example_param_read_for_sec">3</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
</ros2_control>
<ros2_control name="RRBotModularJoint2" type="actuator">
<hardware>
<plugin>ros2_control_demo_hardware/PositionActuatorHardware</plugin>
<param name="example_param_write_for_sec">1.23</param>
<param name="example_param_read_for_sec">3</param>
</hardware>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
</ros2_control>
)";
// 6. Modular Robots with actuators not providing states and with additional sensors
// Example for simple transmission
const auto valid_urdf_ros2_control_actuator_modular_robot_sensors =
R"(
<ros2_control name="RRBotModularJoint1" type="actuator">
<hardware>
<plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
<param name="example_param_write_for_sec">1.23</param>
<param name="example_param_read_for_sec">3</param>
</hardware>
<joint name="joint1">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="velocity"/>
</joint>
<transmission name="transmission1">
<plugin>transmission_interface/SimpleTansmission</plugin>
<joint name="joint1" role="joint1">
<mechanical_reduction>325.949</mechanical_reduction>
</joint>
</transmission>
</ros2_control>
<ros2_control name="RRBotModularJoint2" type="actuator">
<hardware>
<plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
<param name="example_param_write_for_sec">1.23</param>
<param name="example_param_read_for_sec">3</param>
</hardware>
<joint name="joint2">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<ros2_control name="RRBotModularPositionSensorJoint1" type="sensor">
<hardware>
<plugin>ros2_control_demo_hardware/PositionSensorHardware</plugin>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<state_interface name="position"/>
</joint>
</ros2_control>
<ros2_control name="RRBotModularPositionSensorJoint2" type="sensor">
<hardware>
<plugin>ros2_control_demo_hardware/PositionSensorHardware</plugin>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint2">
<state_interface name="position"/>
</joint>
</ros2_control>
)";
// 7. Modular Robots with separate communication to each "actuator" with multi joints
// Example for complex transmission (multi-joint/multi-actuator) - (system component is used)
const auto valid_urdf_ros2_control_system_multi_joints_transmission =
R"(
<ros2_control name="RRBotModularWrist" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/ActuatorHardwareMultiDOF</plugin>
<param name="example_param_write_for_sec">1.23</param>
<param name="example_param_read_for_sec">3</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<transmission name="transmission1">
<plugin>transmission_interface/DifferentialTransmission</plugin>
<actuator name="joint1_motor" role="actuator1"/>
<actuator name="joint2_motor" role="actuator2"/>
<joint name="joint1" role="joint1">
<mechanical_reduction>10</mechanical_reduction>
<offset>0.5</offset>
</joint>
<joint name="joint2" role="joint2">
<mechanical_reduction>50</mechanical_reduction>
</joint>
</transmission>
</ros2_control>
)";
// 8. Sensor only
const auto valid_urdf_ros2_control_sensor_only =
R"(
<ros2_control name="CameraWithIMU" type="sensor">
<hardware>
<plugin>ros2_control_demo_hardware/CameraWithIMUSensor</plugin>
<param name="example_param_read_for_sec">2</param>
</hardware>
<sensor name="sensor1">
<state_interface name="roll"/>
<state_interface name="pitch"/>
<state_interface name="yaw"/>
</sensor>
<sensor name="sensor2">
<state_interface name="image"/>
</sensor>
</ros2_control>
)";
// 9. Actuator Only
const auto valid_urdf_ros2_control_actuator_only =
R"(
<ros2_control name="ActuatorModularJoint1" type="actuator">
<hardware>
<plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
<param name="example_param_write_for_sec">1.13</param>
<param name="example_param_read_for_sec">3</param>
</hardware>
<joint name="joint1">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="velocity"/>
</joint>
<transmission name="transmission1">
<plugin>transmission_interface/RotationToLinerTansmission</plugin>
<joint name="joint1" role="joint1">
<mechanical_reduction>325.949</mechanical_reduction>
</joint>
<param name="additional_special_parameter">1337</param>
</transmission>
</ros2_control>
)";
// 10. Industrial Robots with integrated GPIO
const auto valid_urdf_ros2_control_system_robot_with_gpio =
R"(
<ros2_control name="RRBotSystemWithGPIO" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemWithGPIOHardware</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
</joint>
<gpio name="flange_analog_IOs">
<command_interface name="analog_output1"/>
<state_interface name="analog_output1"/> <!-- Needed to know current state of the output -->
<state_interface name="analog_input1"/>
<state_interface name="analog_input2"/>
</gpio>
<gpio name="flange_vacuum">
<command_interface name="vacuum"/>
<state_interface name="vacuum"/> <!-- Needed to know current state of the input -->
</gpio>
</ros2_control>
)";
// 11. Industrial Robots using size and data_type attributes
const auto valid_urdf_ros2_control_system_robot_with_size_and_data_type =
R"(
<ros2_control name="RRBotSystemWithSizeAndDataType" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemWithSizeAndDataType</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position"/>
<state_interface name="position"/>
</joint>
<gpio name="flange_IOS">
<command_interface name="digital_output" size="2" data_type="bool"/>
<state_interface name="analog_input" size="3"/>
<state_interface name="image" data_type="cv::Mat"/>
</gpio>
</ros2_control>
)";
const auto valid_urdf_ros2_control_parameter_empty =
R"(
<ros2_control name="2DOF_System_Robot_Position_Only" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</plugin>
<param name="example_param_write_for_sec"></param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<command_interface name="position">
</command_interface>
</joint>
</ros2_control>
)";
// Errors
const auto invalid_urdf_ros2_control_invalid_child =
R"(
<ros2_control name="2DOF_System_Robot_Position_Only" type="system">
<hardwarert>
<plugin>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardwarert>
</ros2_control>
)";
const auto invalid_urdf_ros2_control_missing_attribute =
R"(
<ros2_control type="system">
<hardware>
<plugin>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
</ros2_control>
)";
const auto invalid_urdf_ros2_control_component_missing_class_type =
R"(
<ros2_control name="2DOF_System_Robot_Position_Only" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
</joint>
</ros2_control>
)";
const auto invalid_urdf_ros2_control_parameter_missing_name =
R"(
<ros2_control name="2DOF_System_Robot_Position_Only" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</plugin>
<param>2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<plugin>ros2_control_components/PositionJoint</plugin>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
</joint>
</ros2_control>
)";
const auto invalid_urdf_ros2_control_component_class_type_empty =
R"(
<ros2_control name="2DOF_System_Robot_Position_Only" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<plugin></plugin>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
</joint>
</ros2_control>
)";
const auto invalid_urdf_ros2_control_component_interface_type_empty =
R"(
<ros2_control name="2DOF_System_Robot_Position_Only" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/2DOF_System_Hardware_Position_Only</plugin>
<param name="example_param_write_for_sec">2</param>
<param name="example_param_read_for_sec">2</param>
</hardware>
<joint name="joint1">
<plugin>ros2_control_components/PositionJoint</plugin>
<state_interface></state_interface>
<param name="min_position_value">-1</param>
<param name="max_position_value">1</param>
</joint>
</ros2_control>
)";
const auto invalid_urdf2_ros2_control_illegal_size =
R"(
<ros2_control name="RRBotSystemWithIllegalSize" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemWithIllegalSize</plugin>
</hardware>
<gpio name="flange_IOS">
<command_interface name="digital_output" data_type="bool" size="-4"/>
</gpio>
</ros2_control>
)";
const auto invalid_urdf2_ros2_control_illegal_size2 =
R"(
<ros2_control name="RRBotSystemWithIllegalSize2" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemWithIllegalSize2</plugin>
</hardware>
<gpio name="flange_IOS">
<command_interface name="digital_output" data_type="bool" size="ILLEGAL"/>
</gpio>
</ros2_control>
)";
const auto invalid_urdf2_hw_transmission_joint_mismatch =
R"(
<ros2_control name="ActuatorModularJoint1" type="actuator">
<hardware>
<plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
</hardware>
<joint name="joint1">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="velocity"/>
</joint>
<transmission name="transmission1">
<plugin>transmission_interface/SimpleTransmission</plugin>
<joint name="joint31415" role="joint1"/>
</transmission>
</ros2_control>
)";
const auto invalid_urdf2_transmission_given_too_many_joints =
R"(
<ros2_control name="ActuatorModularJoint1" type="actuator">
<hardware>
<plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
</hardware>
<joint name="joint1">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="velocity"/>
</joint>
<transmission name="transmission1">
<plugin>transmission_interface/SimpleTransmission</plugin>
<joint name="joint1" role="joint1"/>
<joint name="joint2" role="joint2"/>
</transmission>
</ros2_control>
)";
} // namespace ros2_control_test_assets
#endif // ROS2_CONTROL_TEST_ASSETS__COMPONENTS_URDFS_HPP_